Allen-Bradley 1756-HYD02 User Manual page 31

Create and configure a coordinate system
Parameter
Vector Maximum Acceleration Jerk
Vector Maximum Deceleration Jerk
Calculate
Actual
Command
Orientation Maximum Speed
Orientation Maximum Acceleration
Orientation Maximum Deceleration
Description
The maximum acceleration jerk rate of the axis.
The jerk parameters only apply to S-curve profile moves using these instructions:
• MCS
• MCCD
• MCCM
• MCLM
The Maximum Acceleration Jerk rate of the coordinate system, in Coordination Units/second
defaults to 100% of the maximum acceleration time. The speed and the acceleration rate for
this calculation are defined as:
MaxAccel
This value is used when the motion instruction is set with Jerk Units=% of Maximum.
When a Multi-axis Motion Instruction has Jerk Units=units per sec
acceleration jerk value is derived from the motion instruction faceplate. The jerk units for the
motion instruction also allow for Jerk Units=% of Time, with 100% of Time. This means that the
entire S-curve move will have Jerk limiting. This is the default mode. An S-curve move with 0%
of Time will result in a trapezoidal profile, and have 0% Jerk limiting. If set manually, enter the
value in units=Coordination Units/second
Use the Calculate button to view this value in terms of units=% of Time.
The maximum deceleration jerk rate of the axis.
The jerk parameters only apply to S-curve profile moves using these instructions:
• MCS
• MCCD
• MCCM
• MCLM
The Maximum Deceleration Jerk rate of the coordinate system, in Coordination Units/second
defaults to 100% of the maximum deceleration time. The speed and deceleration rate for the
calculation are defined as:
MaxDecel
This value is used when the motion instruction is set with Jerk Units=% of Maximum.
When a Multi-axis motion instruction has Jerk Units=units per sec
Jerk value is derived from the Motion Instruction faceplate. The jerk units for the motion
instruction also allow for Jerk Units=% of Time, with 100% of Time meaning the entire S-curve
move will have Jerk limiting, which is the default mode. An S-curve move with 0% of Time will
result in a trapezoidal profile, and have 0% Jerk limiting. If set manually, enter the value in
units=Coordination Units/second
Use the Calculate button to view the value in terms of units=% of Time.
Opens the Calculate Maximum Acceleration/Deceleration Jerk dialog box to view and set
the Maximum Acceleration or Maximum Deceleration Jerk in terms of the Jerk Units=% of Time.
The Calculate button is available only when the software is online with the controller.
The value in coordination units, for Actual Position to be used by Coordinated Motion
instructions when they have a Termination Type of Actual Tolerance.
The value in coordination units, for Command Position to be used by Coordinated Motion
instructions when they have a Termination Type of Command Tolerance.
The maximum speed of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.
The maximum acceleration of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.
The Maximum deceleration of the orientation axes of the coordinate system.
This value is used by the Motion Coordinate Path Move (MCPM) instruction.
Rockwell Automation Publication MOTION-UM002F-EN-P - February 2018
/Speed = Maximum Acceleration Jerk
2
3 units.
2 /Speed - Maximum Deceleration Jerk
3 units.
Chapter 1
3 ,
3 then the maximum
,
3
then the Max Deceleration
3
31